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Track Limits and the ABB RTT Mediapool

DanS
DanS ✭✭
in RobotStudio

I've noticed that when setting up a track using the standard abb track mediapool, the station library will be modified to have limits that match the controller defined limits.

Example:  A 4.7m travel track library will end up with 12.4m of total travel.  The carriage will actually continue to travel past the hardstops.

I haven't been able to find a way to change this 12.4m limit inside of RSO.  I've also tried to add the limit to the MOC.cfg directly and it crashes the controller.  It's almost as if the limit is defined internally (locked/encrypted) within the mediapool somplace other than the visible MOC.cfg.

Is this a bug or am I missing something?

Comments

  • Anders S
    Anders S mod

    Hi,

    Normally is it possible to change the limit in RSO. The value you should change is "Upper Joint Bound", you will find it under Configuration - Motion - Arm.

    I have tested this with one of the track cfg-files that comes with the RS installation, and it works.

     

    Best regards,
    Anders Spaak
    ABB Robotics
  • DanS
    DanS ✭✭

    I've looked and haven't been able to find the joint bounds.  The mediapool I'm using is:

    3HEA-000-00062.Single_RTT_2L

    I appreciate the quick replys!

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